How do I use interrupt in Java?

[danielcezar]

And what about a Timer interrupt?

[derekwhite]

In Java the simplest thing to do is create a high priority thread that runs in a loop calling sleep (or WPILibj's Timer.delay) for 25 ms.

You can also use the java.util.Timer class for more complex activities. scheduleAtFixedRate() may be something to look at.

[danielcezar]

The only problem is that when i call sleep, the software stops at all, so i cant move the robot while this.

Should i call inside the thread or not?

[jhersh]

Originally Posted by danielcezar

The only problem is that when i call sleep, the software stops at all, so i cant move the robot while this.

Should i call inside the thread or not?

You should call it in a separate thread if it blocks the execution of code you don't want blocked.

Perhaps you should take a step back and explain what it is that you are trying to accomplish instead of asking how to implement the solution that you've come up with. Chances are there is a better way to accomplish it.

-Joe

[danielcezar]

I'm trying to call a interrupt each 25ms, because i want to write my own PID control, and with this interrupt i'm acumulate the error to calc the integral.

someone here said me to use a thread, and i did it, a diferent class with with the thread, overwriting the run method. But when i try to call .sleep to wait each 25ms, it stops the intire robot.

[jhersh]

Originally Posted by danielcezar

I'm trying to call a interrupt each 25ms, because i want to write my own PID control, and with this interrupt i'm acumulate the error to calc the integral.

Have you tried the built-in PID classes?

Originally Posted by danielcezar

someone here said me to use a thread, and i did it, a diferent class with with the thread, overwriting the run method. But when i try to call .sleep to wait each 25ms, it stops the intire robot.

I think we would need to see the code you use to start the thread to know if you are actually running in a separate thread. Also, if you are calling out into C land, you will block the whole Java VM until you return (unless you are using the "BlockingFunction" class).